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In this paper, a task-oriented grasp performance criterion for robot hands is discussed. The objectives of grasp criteria proposed in the past are stable grasping and the tasks that require adequate forces and moments on the grasped object. These criteria do not mainly consider the other physical quantities such as positions and velocities on the grasped object and the mechanical property of robot hands. We propose a grasp criterion for various kinds of tasks that evaluates the feasibility of the task with considering hand mechanisms and hand configurations. Our proposed method determine the grasping position by considering the efficiency of grasped object's position, velocity, and force. As a result, this criterion decides the grasping position and the hand configuration. Additionally, we have shown that our proposed criterion can be applied to the design problem of robot hands.